Apparatus and method for automatic video recording

ABSTRACT

System and methods for pointing a device, such as a camera, at a remote target wherein the pointing of the device is controlled by a combination of location information obtained by global positioning technology and image recognition of the target.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Nonprovisional patentapplication Ser. No. 14/291,213, filed May 30, 2014, which applicationis a continuation of U.S. Nonprovisional patent application Ser. No.13/782,862 filed Mar. 1, 2013 (now U.S. Pat. No. 8,749,634, issued Jun.10, 2014), which application claims the benefit of U.S. ProvisionalPatent Application No. 61/605,604, filed Mar. 1, 2012, and U.S.Provisional Patent Application No. 61/745,346, filed Dec. 21, 2012, thecontents all of which are incorporated herein by this reference and arenot admitted to be prior art with respect to the present invention bythe mention in this cross-reference section.

BACKGROUND

Recording a person participating in an activity is an important task. Asurfer may wish to capture his surfing experience for later enjoyment orto improve his or her surfing technique. A father may wish to record hisson's winning touchdown in a football game. A mother may wish to captureher daughter's record-breaking gymnastics performance. In theseexamples, the camera is typically, and sometimes for best results,relatively far away from the participant, or more generally, thesubject. To record the subject, a second person is needed to control andposition the camera. Because humans are imperfect, the quality of therecorded video may not be ideal. For example, the camera operator orcameraman may have an unsteady hand making the recorded video too shakyand unbearable to watch. Additionally, the cameraman may become tired ordistracted and may not keep the subject in the view field of the camera.In this situation, the cameraman may fail to capture an exciting orinteresting moment. Further, some subjects may not have a second personwilling to operate the camera. In this case, the individual loses thechance to record him or herself.

SUMMARY OF THE INVENTION

In accordance with a preferred embodiment hereof, this inventionprovides a system for orienting a camera at a target, the systemcomprising global positioning units associated with the camera and thetarget and an orienting device capable of orienting the camera at thetarget based on location information generated by the global positioningunits, wherein the system for orienting the camera receives images fromthe camera and is trained using the received images to recognize thetarget, and, once trained, uses image recognition to orient the cameraat the target.

In accordance with another preferred embodiment hereof, this inventionprovides a method of pointing a camera at a target, the methodcomprising at least one first combination of steps and at least onesecond combination of steps, wherein the at least one first combinationof steps comprises the steps of determining a location and anorientation of the camera; determining a location of the target;determining a direction and a distance between the camera and thetarget; periodically determining changes in the location of the target;periodically determining changes in orientation of the camera that arenecessary to point the camera towards the target; using an orientationcontroller to point the camera towards the target; and wherein the atleast one second combination of steps comprises the steps of collectingimages of the target; training image recognition software to recognizethe target within a field of view of the camera; orienting the camera atthe recognized target; and wherein the at least one first combination ofsteps is used whenever the target is not recognized within the field ofview of the camera.

In accordance with yet another preferred embodiment hereof, thisinvention provides a method of pointing a camera at a moving target, themethod comprising the steps of determining locations of the camera andof the target using global positioning information; periodicallyrepeating determining locations of the camera and of the target in realtime using global positioning information; periodically determiningdirections between the camera and the target; determining an orientationof the camera; periodically repeating determining the orientation of thecamera in real time; using image recognition software to determinecharacteristics of the target and storing the characteristics; and usingthe stored characteristics of the target to point the camera at thetarget.

This invention also provides each and every novel feature, element,combination, step, and/or method disclosed or suggested herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a schematic diagram illustrating a first embodiment of anautomatic video recording system according to a preferred embodiment ofthe present invention.

FIG. 2 shows a schematic diagram illustrating a second embodiment of anautomatic video recording system according to a preferred embodiment ofthe present invention.

FIG. 3 shows a graphical depiction illustrating location determinationof a camera and an associated camera orientation control deviceaccording to a preferred embodiment of the present invention.

FIG. 4 shows a schematic diagram illustrating a line-of sight directiondetection system of an automatic video recording system according to apreferred embodiment of the present invention.

FIG. 5 shows a schematic diagram illustrating a radiation sourcewearable by a subject according to a preferred embodiment of the presentinvention.

FIG. 6 shows a flowchart illustrating a method of orienting a cameraaccording to a preferred embodiment of the present invention.

FIG. 7 shows a flowchart illustrating another method of orienting acamera according to a preferred embodiment of the present invention.

FIG. 8 shows a flowchart illustrating another method of orienting acamera according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The systems and methods of the present invention relate to automaticorientation of a pointing device, such as a camera, at a target orsubject wherein the pointing device is controlled based on a combinationof location data obtained by satellite-based global positioningtechnology and orientation and/or location data obtained byline-of-sight technology. The line-of-sight techniques of the presentinvention may use, for example, orientation at a radiation source orsound source.

In the preferred embodiments hereof, an automatic video recording systemrecords video footage during an activity such as, for example, surfing.The automatic video recording system automatically tracks a designatedperson engaged in the activity such that they remain substantiallywithin the field of view of the camera without the need for engaging theservices of a second person to operate the camera. For the purposes ofthe description hereof, the term “track” means to continually adjust theorientation of the camera so that the subject of the recording remainssubstantially in the field of view of the camera.

The systems and methods of the present invention further relate to oneor more devices that point or orient one or more cameras to track andfilm one or more subjects. The systems hereof are capable of keeping theone or more cameras pointed at, or oriented towards, a desired subjectfor an extended period of time (such as during a surfing session, asoccer game, a ballroom dance competition, etc.). Certain availabletechnologies and methods have limited range, response time, precision oflocation, and orientation determination. Specifically,global-positioning-based technology is normally limited to outdoor useand may have significant errors when used in the vicinity of bulkyobjects, such as buildings. Additionally, global-positioning-basedtechnology also has response times of about one second, which may posesignificant issues for tracking subjects that move at speeds of severalfeet per second. The systems and methods of the present inventioncombine line-of-sight technology with global positioning to achievefaster response times and increased tracking precision.

In the following discussion, two main types of embodiments usingline-of-sight methods will be discussed. The first type of embodiment isone in which the line-of-sight technique uses a radiation source locatedwith the recording subject. For example, with reference to FIG. 5, therecording subject may wear a helmet having a light source affixedthereto. In the second type of embodiment, the line-of-sight techniqueis based on image recognition. While these line-of-sight technologiesare described herein with respect to the preferred embodiments hereof,it should be understood that the systems and methods of the presentinvention may include line-of-sight technologies other than lightdetection and image recognition. Line of sight technology may also bepracticed using sound waves. The detection of the orientation of soundwaves may be done using a plurality of microphones. Instead of thevariations of intensity used to detect optical signal direction, thedetection of sound waves may use differences in travel time to reachmicrophones positioned at a distance from one another. In a preferredembodiment the sound source is modulated and the phases of signalsarriving at different microphones are evaluated. In a preferredembodiment sound frequencies that do not interfere with human and animallife (e.g., ultrasound) are preferably used. Other preferred embodimentsare also described and contemplated throughout the following discussionand form a part of the invention hereof.

The distance between the camera and the subject is referred to as theworking distance of the system. Some line of sight technologies (inparticular infrared radiation based technology) are limited to shortworking distances (about one to about 10 meters). Global positioningbased orientation is more accurate at larger working distances (beyond10 meters). The systems and methods of the present invention combinethese technologies so that the automatic video recording system willtrack the subject as discussed further herein.

To assist in the discussion hereof, reference should be made to co-ownedand co-pending U.S. patent application Ser. No. 13/726,203, titled “APORTABLE SYSTEM FOR HIGH QUALITY AUTOMATED VIDEO RECORDING” (hereinafterreferred to as the '203 patent application), and co-owned and co-pendingU.S. patent application Ser. No. 13/726,222, titled “SYSTEM AND METHODFOR INITIAL SETUP OF AN AUTOMATIC RECORDING SYSTEM” (hereinafterreferred to as the '222 patent application). The '203 patent applicationand the '222 patent application are hereby incorporated by referenceherein in their entirety.

FIG. 1 shows a schematic diagram illustrating a first embodiment of theautomatic video recording system according to a preferred embodiment ofthe present invention. FIG. 1 shows automatic video recording system 10.Automatic video recording system 10 is configured to track and recordsubject 12, such as a participant in a sporting event. In theillustrated embodiment, automated video recording system 10 comprisesremote device 16 and camera orientation control device 70. Remote device16 is collocated with subject 12, as shown. Remote device 16 ispreferably worn by subject 12. Camera 46 is attached to cameraorientation control device 70, as shown. Camera orientation controldevice 70 keeps camera 46 pointed at remote device 16 and subject 12.The pointing direction of camera 46 is the direction of the optical axisof camera 46. The zoom of camera 46 is preferably set such that subject12 is within field of view 60 of camera 46. The focus of camera 46 ispreferably set so that subject 12 is appropriately in focus. The zoomand focus of camera 46 may either be fixed during the duration of therecording or automatically adjusted as discussed further below.

Remote device 16 is preferably equipped with one or more sources ofelectromagnetic radiation 50 detectable by a variety of appropriatesensors incorporated in orientation control device 70. For example,electromagnetic radiation in the radio wave portion of theelectromagnetic spectrum is used to transmit data between remote device16 and camera orientation control device 70. As shown in FIG. 1, antenna71 is associated with orientation control device 70. Antenna 71transmits and detects radio waves from remote device 16.

Electromagnetic radiation in the infrared or visible light range of theelectromagnetic spectrum may also be used for target orientation. Forexample, a four-segmented detector of infrared radiation may beassociated with camera orientation control device 70 and a correspondinginfrared radiation emitter may be associated with remote device 16.Appropriate filtering may be needed to make the detection work in thepresence of background radiation, such as sunlight and common heatsources. Visible light may also be used. In such an embodiment, alight-emitting device is associated with either remote device 16 or withsubject 12. The camera itself or a separate position sensitive detector,such as a charge coupled device (CCD), channel plate, or the like, isassociated with camera orientation control device 70.

In the embodiment shown in FIG. 1, camera 46 is attached to cameraorientation control device 70 which preferably comprises a pan drive anda tilt drive to pan and tilt camera 46. Camera orientation controldevice 70 further preferably comprises at least one microprocessor andone or more communication devices. A global positioning antennaassociated with remote device 16 receives signal from satellites and/orterrestrial sources. In some embodiments of the system shown in FIG. 1,camera orientation control device 70 is not equipped with a globalpositioning device and its location is determined by a procedure duringwhich remote device 16 is temporarily placed near camera orientationcontrol device 70 (for a more detailed discussion of this procedurerefer to the above-referenced '222 patent application). In a preferredembodiment, camera orientation control device 70 is itself equipped witha global positioning unit. Thus, the positions of both remote device 16and camera orientation control device 70 may be known if globalpositioning signals are appropriately received. In such a preferredembodiment, so long as an initial orientation of camera 46 is known,there is sufficient information for orienting the camera at remotedevice 16 using global positioning technology.

The initial orientation of camera 46 is preferably determined through aset up procedure or using internal orientation sensors (for detailsrefer to the '222 patent application and the '203 patent applicationreferenced above).

In the embodiment shown in FIG. 1, camera orientation control device 70is mounted on tripod 34. Tripod 34 preferably comprises an elevatingmast 36 for height adjustment purposes. When mounted on tripod 34,camera 46 of automatic video recording system 10 is stationary during arecording session, as shown in FIG. 1. Automatic recording system 10 ispreferably sized appropriately to be portable to the filming location.

In other preferred embodiments, camera 46 may not be stationary during arecording session. For example, camera orientation control device 70 andcamera 46 may be mounted on a mobile platform (e.g., a car). In such anembodiment camera orientation control device 70 is preferably collocatedwith camera 46, and camera orientation control device 70 has a locationsensor (such as a global positioning sensor) to keep track of thelocation of camera 46 as the camera moves. In addition, one or moreother sensors, for example, roll and pitch sensors and/or electroniccompasses, to name a few, may be employed to update the orientation ofthe camera due to orientation changes experienced by the camera by beingsituated on a moving platform. In certain embodiments, one or moreorientation sensors may be used to determine the orientation of thecamera or the camera orientation control device.

As the subject moves, the global positioning sensors determine thelocations of remote device 16 and camera orientation control device 70.With reference to the '203 patent application, the new desiredorientation angle of camera 46 is calculated such that camera 46 will beoriented to keep remote device 16 and collocated subject 12 within fieldof view 60 of camera 46. Camera orientation control device 70 providescommands for associated pan and tilt motors (see, e.g., FIG. 5 andrelated discussion of the '203 patent application) regarding the desiredturning angle and turning velocity. The orientation of camera 46 isknown during the remainder of the recording session preferably bykeeping track of camera movements using, for example, encoded wheels andtracking stripes of the encoded wheel. In a preferred embodiment hereof,camera orientation control device 70 also outputs commands to camera 46for automatic focus, automatic zoom, recording on, recording off, poweron, and power off.

FIG. 2 shows a schematic diagram illustrating a second embodiment of theautomatic video recording system according to a preferred embodiment ofthe present invention. In the embodiment illustrated in FIG. 2,automatic video recording system 20 comprises camera 46, positioner 32,tripod 34, base station 18, and remote device 16. Camera 46 is connectedwith positioner 32 which functions to change the position of camera 46to track remote device 16 associated with the subject being recorded.Positioner 32 is shown attached to tripod 34. Base station 18 is theunit of automatic video recording system 20 that processes informationtransmitted from remote device 16 and from radiation sensor 57associated with positioner 32 and communicates commands to positioner 32to orient camera 46 to point at remote device 16. Base station 18 isphysically separate from positioner 32, but is communicatively coupledwith positioner 32. Upon receiving commands from base station 18,positioner 32 orients camera 46 to stay pointed at remote device 16 asremote device 16 moves in the environment. The embodiment of FIG. 2differs from the embodiment shown in FIG. 1 in that the embodiment ofFIG. 2 illustrates physical separation of the camera orientation controlfunction and the positioner function of the automatic video recordingsystem 20. In FIG. 1, these functions are carried out by cameraorientation control device 70. It is noted that any of the functions ofbase station 18 described below may also be carried out by the cameraorientation control device 70 of FIG. 1 (except for those functions thatare expressly related to the physical separation of positioner 32 andbase station 18).

Referring again to FIG. 2, remote device 16 and base station 18 arecommunicatively coupled (such as, for example, by radio communication50). In addition to the aforementioned radio communication, remotedevice 16 preferably emits radiation 55 detected by radiation sensor 57.In FIG. 2, radiation sensor 57 is shown associated with positioner 32,but it may also be associated with camera 46, tripod 34, etc. Radiationsensor 57 is preferably incorporated with positioner 32. Emittedradiation 55 may be ultrasound, infrared, or visible light; radiationsensor 57 corresponds to the type of radiation emitted by remote device16. Camera 46 is oriented at remote device 16 using a combination ofglobal positioning technology and line-of-sight technology as discussedfurther herein.

It is noted that the location of camera 46 may also be determined byemploying line-of-sight technology. Combining global positioninglocation determination with line-of-sight technology can assist inreducing the location uncertainty inherent in global positioningtechnology as discussed with respect to FIG. 3 below.

FIG. 3 shows a graphical depiction illustrating location determinationof a camera and an associated camera orientation control deviceaccording to a preferred embodiment of the present invention. In FIG. 3,camera 46 and camera orientation control device 70 are located at point(x,y). The movement of remote device 16 is depicted as moving along path700. A radiation source, such as a light source, is preferably locatedon remote device 16. A radiation sensor is preferably associated withcamera orientation control device 70 or camera 46. The radiation sensoris preferably an orientation sensitive detector. In most uses, remotedevice 16 is worn by a person and will move freely in the environment.It should be noted that the remote device may be associated with aperson, an animal, an inanimate object (such as a robot or a vehicle), acombination of the aforementioned, etc.

Camera 46 is oriented toward remote device 16 using locationdetermination systems and methods based on global positioning technology(for a detailed discussion of such systems and methods, refer to the'203 patent application referenced above). As discussed in great detailin the '203 patent application, the directional angles of camera 46 arereferenced to an initial direction determined in a setup orinitialization procedure. The initial direction is referenced in FIG. 3as initial direction 710. To combine the global positioning methodologywith a line-of-sight methodology to refine the location determination ofthe camera/camera orientation control device, the locations of remotedevice 16 along path 700 of the subject at various times are determinedby a global positioning methodology (see '203 patent application). Theline-of-sight sensors preferably have one or more associated clocks.Additionally, the global positioning sensors preferably comprise one ormore associated clocks as well. The clock or clocks of the line-of-sightsensors are preferably synchronized with the clock or clocks of theglobal positioning device.

Referring to FIG. 3, the angles θ₂ and θ₃ are determined by aline-of-sight method and the corresponding locations (x₁,y₁), (x₂,y₂)and (x₃,y₃) are known from global positioning data. With thisinformation, x and y can be calculated. Using the vectors {right arrowover (a)}, {right arrow over (b)}, {right arrow over (c)}, the equationsmay be written as

${\cos \; \theta_{2}} = \frac{\overset{->}{a} \cdot \overset{->}{b}}{ab}$and${{\cos \; \theta_{3}} = \frac{\overset{->}{b} \cdot \overset{->}{c}}{bc}},$

where the angles and the differences between the vectors are known.

Stated another way, one can write the equations to calculate thelocation of the camera/camera orientation control device as follows: (1)tan θ₁=(y₁−y)/(x₁−x), (2) tan(θ₁+θ₂)=(y₂−y)/(x₂−x), and (3)tan(θ₁+θ₂+θ₃)=(y₃−y)/(x₃−x). The values for θ₂ and θ₃ are known from theline of sight method. The values of x₁, x₂, x₃, y₁, y₂, and y₃ are knownfrom the global positioning method. With these values, the location(x,y) may be determined.

Those skilled in the art will recognize that while FIG. 3 and theequations as written depict and describe 2-dimensional movement, thesame principles apply to 3-dimensional movement of the subject. Theequations may be adapted to accommodate 3-dimensional movement.

The calculation of x and y is preferably repeated every time both globalpositioning and line-of-sight data for the same location of remotedevice 16 are available. The determination of the location (x,y) iscontinually improved over time by computing averages of the determinedlocations of (x,y). The improved camera location may then be used in theglobal positioning method for improved tracking of the subject 12.

FIG. 4 shows a schematic diagram illustrating a line-of sight directiondetection system of an automatic video recording system according to apreferred embodiment of the present invention.

FIG. 4 shows camera orientation control device 70 with associated camera46. Remote device 16 comprises an associated radiation emitter, namely,light source 750. Camera orientation control device 70 is preferablyequipped with position sensitive detector 720 and with appropriateoptics 730, as shown. In FIG. 4, optics 730 is depicted as a concavelens.

Position sensitive detector 720 and camera 46 are preferably orientedtogether (i.e., optical axis 740 of position sensitive detector 720 isparallel to optical axis 48 of camera 46). Light source 750 of remotedevice 16 emits an appropriately modulated light beam 760. Light beam760 is refracted by optics 730 and is detected, in the example shown inFIG. 4, off center as beam 770. Light beam 770 is detected off centerbecause remote device 16/light source 750 is not situated along opticalaxis 740. It is noted that for illustration purposes the axes 48 and 740are shown well separated, while the distance between camera 46 andremote device 16 is very much reduced. In reality, axes 48 and 740 willpreferably essentially coincide; the distance between them is about atleast 100 times smaller than the distance from camera 46 to remotedevice 16.

Position sensitive detector 720 is preferably connected to amicrocontroller housed within camera orientation control device 70.Position sensitive detector 720 communicates with camera orientationcontrol device 70 to turn camera 46 and optics 730 of position sensitivedetector 720 so that light beam 750 is detected at the center ofdetector 720 along optical axis 740. If light beam 760 is detected atthe center of detector 720 along optical axis 740, camera orientationcontrol device 70 and its associated components (camera 46) are notturned.

FIG. 4 depicts optics 730 as a single concave lens; such a depiction isfor illustrative purposes only as optics 730 may be implemented in anumber of ways as those familiar with designing optics will recognize.

In a preferred embodiment, light beam 760 is in the infrared wavelengthrange of the electromagnetic spectrum and has a well-defined wavelength.Appropriate filtering ensures that background infrared radiation doesnot produce detection errors. Using infrared radiation is advantageousin that interference from background radiation is avoided. Use ofinfrared radiation does, however, have limited working distance.Alternatively, visible light position detection methods may be usedwhich include using multiple or segmented detectors and turning thedetector (or detector array) such that the light intensity is balanced.

In another embodiment, the position of remote device 16 relative tocamera 46 may be determined by incorporating an array of two or moredirectional antennae and/or microphones located at camera 46. The arrayof two or more directional antennae and/or microphones are capable ofbeing oriented together in different directions. In such an embodiment,the direction and/or the distance of the remote device is determinedbased on the relative strengths of the electromagnetic or sound wavesignals transmitted by remote device 16 and received by receivingdevices located at camera 46. Additionally, in the case of use of soundwaves, by having a known emitted frequency, the Doppler shift may bedetected and used to determine if remote device 16 is moving closer orfarther from camera 46. Further, the velocity of that movement may bedetermined as well.

In an alternative embodiment, light source 750 emits visible light andthe light intensity of beam 760 is modulated using an electro-opticaldevice. The visible light signal in such an embodiment may be detectedeven in the presence of strong but un-modulated background light (suchas sunshine) by applying phase detection technology. The advantage ofsuch a system is increased working distance, while the disadvantage is atime delay associated with the phase detection technology.

The systems and methods of the present invention may also useline-of-sight technology using ultrasonic transceivers. In such anembodiment, ultrasound may be used much like the light-based methodsdescribed above. The ultrasound source signal is preferably integratedwith the remote device. A detector array (a segmented detector) ispreferably used to detect ultrasound signals and to determine theorientation of the source with respect to the detector array.

Equipment combining line-of-sight and global positioning technologiesmust take working distance limitations into consideration. One of thelimitations of the line-of-sight technology as practiced, for example,using infrared radiation light, is its limited working distance due toabsorption of infrared radiation light in air. “Long range” infraredradiation communication permits working distances between 10 meters and100 meters. However, with most consumer-priced readily availableinfrared-based line-of-sight technologies, even a 10-meter workingdistance would be difficult to achieve. Because of similar reasons ofabsorption in air, ultrasonic location determination is limited toworking distances of less than 10 meters using most ultrasonictransceivers available today. High power ultrasonic transmitters existthat, under optimal air conditions (low particulate concentration), workup to 100-meter distances; however, due to power consumption and sizethey are not applicable for the consumer applications of the presentinvention. (It should be noted that such devices could be used forlocation determination indoors replacing global positioning locationdetermination when the emitters are installed at fixed locations, suchas on poles or walls in corners of an arena). Due to the uncertainty inthe location determination using commonly available low cost globalpositioning technology, location determination using a globalpositioning based methodology is limited to working distances longerthan about 10 meters. Combining the line of sight methodology describedherein with the global positioning methodology, an automatic videorecording system will work both at short distances of about one to 10meters, as well as long distances of about 10 to 1000 meters.

In use, it is noted that the subject may move in and out of the infraredrange during a given recording session. As a general method, the systempreferably uses the line-of-sight method when available, and globalpositioning technology is used alone (without line-of-sight input) whenthe distance or other factors prevent use of line-of-sightmethodologies. Accordingly, in a preferred embodiment of the presentinvention, the system is programmed to use the line-of-sight methodologyat short distances and the global positioning methodology when availableand when the working distance is longer.

The reach of light based line-of-sight methods may be extended by usingvisible light instead of infrared radiation light. An additionaltechnique for locating and tracking a remote device preferably utilizeselectromagnetic frequency sensors (e.g., a charge-coupled device), whichdetects an electromagnetic wave emitted by the remote device. Forexample, a lens is positioned to face in the general direction of theremote device. The electromagnetic wave emitted by the remote device hasa specific frequency. The lens allows the electromagnetic waves emittedby the remote device to pass through and project onto a charge coupleddevice. Filters are preferably put in place to block out frequencies notemitted by the remote device. The charge coupled device is preferablyoptimized to detect one or more frequencies that are emitted by theremote device. By knowing the position of the projection of theelectromagnetic source on the charge-couple device, the relativedirection of the remote device can be determined. In this version of thetracking system, the lens/charge coupled device sensor is preferablylocated on the positioner 32.

Both electromagnetic and sound signals may be emitted from sources inthe remote device. However, the signal sources may also be separate fromthe remote device as well.

FIG. 5 shows a schematic diagram illustrating a radiation sourcewearable by a subject according to a preferred embodiment of the presentinvention.

According to a preferred embodiment hereof, both electromagnetic andsound signals may be emitted from sources in the remote device but thesesources also may be separate from the remote device that serves globalpositioning reception and transmission. In a preferred embodiment, shownin FIG. 5, a light source 100 (i.e., a radiation source) for line ofsight orientation is preferably connected to helmet 110 worn by subject12. In other embodiments helmet 110 may be replaced by a headband, orsimilar device. For convenience, radiation emitted from a devicecollocated with the subject will be referred to as being emitted fromthe remote device; however, the emission may actually originate from aseparate device such as the helmet-mounted light source 100 depicted inFIG. 5. The helmet or other worn device may further include a globalpositioning unit and/or a camera for point-of-view recording.

It is noted that a signal originating from the remote device may besensed by a plurality of sensors or antennas. The sensors or antennasmay be substantially collocated with camera 46 or may be at a separatelocation and may communicate with camera orientation control device 70or base station 18.

FIG. 6 shows a flowchart illustrating a method of orienting a cameraaccording to a preferred embodiment of the present invention. Moreparticularly, FIG. 6 shows a line of sight methodology to point a cameraat a desired subject using at least two directional antennas. In apreferred embodiment, a wide-angle antenna turns searching for anelectromagnetic signal associated with a subject (the signal source) instep 150. A wide-angle antenna is preferred in step 150 to provide agreater chance of finding the electromagnetic signal associated with thesubject. Subsequently in step 155, the system determines whether theelectromagnetic signal associated with the subject has been located andfurther determines its approximate direction. Next, in step 160, asecond narrower directional antenna is used to find a more preciseorientation from which the electromagnetic signal comes. If a moreprecise orientation is found in step 165, then camera orientationcontrol device 70 (or base station 18) determines whether to change theorientation of the camera, the zoom, and/or the focus of camera in step170. The appropriate signals are sent to an associated pan and tiltmotor to orient the camera to point at the electromagnetic signalsource, to adjust the zoom of the camera, and/or to adjust the focus ofthe camera in step 175. The zoom and focus commands for camera 46require determining the distance and velocity of the subject; these maybe determined either from global positioning data or fromelectromagnetic signal intensity.

FIG. 7 shows a flowchart illustrating another method of orienting acamera according to a preferred embodiment of the present invention. Instep 800, the automatic video recording system is powered on. In step805, the remote device 16 and base station 18 are paired. In otherwords, unique communication is established between remote device 16 andbase station 18. Such communication is distinguishable fromcommunication between similar elements of another system. The pairing isperformed to avoid problems when multiple copies of the apparatus areused in the same vicinity. The pairing step 805 also preferably includeschoosing a unique modulation frequency for a radiation signal to be usedfor line-of-sight orientation determination. As discussed above, theradiation signal may be infrared radiation, visible light, orultrasound. The pairing is preferably valid for the duration of therecording session. The same base station 18 may be paired with differentremote devices 16 for different sessions. Also, in embodiments where asingle camera films multiple subjects each having a remote device, eachremote device is preferably paired with the same base station 18.

In step 810 the clocks of base station 18 and remote device 16 (or ofmultiple remote devices) are synchronized. Next, in step 820, the lineof sight signal for orientation determination is sent from remote device16. Next, the system determines whether the line of sight signal isavailable for orientation in step 830. If a line of sight signal isdetected in step 830, then a line-of-sight turning angle for camera 46is determined by base station 18 in step 840. Next, positioner 32 iscommanded to turn camera 46 accordingly in step 850. If a line of sightsignal is not detected in step 830, then step 820 is repeated until sucha signal is detected. During substantially the same time as theabove-described steps 820, 830, and 840 relating to the line of sightmethod, in a parallel path the global positioning antenna of remotedevice 16 waits ready to receive global positioning signal in step 815.If such a signal is received in step 825, the location of remote device16 is determined and a new turning angle for camera 46 is determined instep 835 (for a detailed discussion of the global positioningmethodology, refer to the '203 patent application). If at the same time,a line of sight turning angle is determined and available in step 845,the information determined in step 835 may be combined with informationdetermined in step 840. With such information, the location of camera 46may be determined in step 855. To successfully complete step 855, a setof three data pairs are needed (see FIG. 3). Thus, the line of sighttechnique must be active long enough to generate a set of datacomprising at least three data pairs before step 855 can be carried out.After the set of three data pairs is determined, the calculations ofstep 855 are carried out every time new synchronized data of remotedevice locations and camera angles are available. Once determined, thelocation data for the camera 46 is stored. If a line of sight turningangle is not available, the system uses the turning angle determined instep 835 to control the orientation of camera 46. In addition, thedistance between camera 46 and remote device 16 determined in step 835is used to control the zoom and focus of the camera 46 in step 860.

Steps 815 and 820 and their subsequent steps are repeated until thesystem is turned off at the end of the recording session.

When remote device 16 and the camera 46 are located such that theline-of-sight methodology can be employed, the orientation of camera 46is preferably controlled by the line-of-sight methodology. When the lineof sight method cannot be employed for any reason, the globalpositioning based control takes over. For example, at the beginning ofthe recording the subject 12 may be in close proximity to the camera 46.When in close proximity, the line-of-sight methodology is employed. Ifsubject 12 moves farther away from camera 46 to a distance that is toofar for the line-of-sight technique to operate, the global positioningbased camera orientation controls. If subject 12 moves in and out of theacceptable range of the line of sight technique, the control of thesystem switches between line-of-sight and global positioning basedcontrol as needed.

In those embodiments where a global positioning antenna is collocatedwith camera 46, the differential global positioning method may beemployed. In such a case, the precision of the determination of therelative locations of camera 46 and remote device 16 is improved andstep 855 of FIG. 7 may be omitted.

In another embodiment of the invention, line-of-sight technology may beused to correct camera location data. Using the distance between camera46 and remote device 16 determined by differential global positioning,one may calculate corrections for the location coordinates x and y ofthe camera using the equations: Δx=d(cos α−cos β) and Δy=d(sin α−sin β),where d is the distance between the camera and the remote device, whereα and β are the angular positions of the camera determined by theline-of-sight and global-positioning-based methods, respectively, at thesame time. The corrections are preferably continually updated.

In another embodiment, the distance between remote device 16 and camera46 is determined using a brightness or intensity measurement. If thebrightness of an electromagnetic radiation source and its emissionprofile are known, the brightness measured at a particular distancedepends only on the absorbance of the medium between the source andsensor and the distance between them. The absorbance may be assumed tobe negligible (as in clean air), corrected for mist, or may be measuredusing auxiliary equipment.

FIG. 8 shows a flowchart illustrating another method of orienting acamera according to a preferred embodiment of the present invention.More particularly, FIG. 8 shows a flowchart illustrating a method oforienting a pointing device using both global positioning andline-of-sight technology wherein the line-of-sight technology comprisesimage recognition or shape recognition. The method of FIG. 8 may becarried out, for example, using a camera that is otherwise used forrecording and by employing appropriate software solutions.

In step 200, the automatic video recording system is powered on orstarted. In step 220, the camera is oriented using global positioningdata acquired in step system 210 (for details, refer to the '203 patentapplication referenced above). Image recognition software is preferablyemployed and trained to recognize the subject in step 230. In step 240,the system determines whether or not subject recognition is sufficient.If the image recognition software is not sufficiently trained, step 230repeats. Once the image recognition software is sufficiently trained andthe subject is recognizable, subject recognition can serve as the basisof orienting the camera in step 250. Preferably, while image recognitionis controlling the orientation of the camera, global positioningtechnology continues to be employed, although it does not control theorientation of the camera. The global positioning technology retains acorrecting function that takes over in case of conflict in step 260. Forexample, if there are multiple similar images in the field of view (suchas when filming surfing and multiple surfers are present in the samearea), the camera might begin to orient toward a different surferinstead of subject 12. If the information from global positioningtechnology contradicts the image recognition, the global positioningmethodology takes over and corrects the orientation of camera 46 andreturns to step 220. Next, the image recognition software is againtrained to recognize subject 12 in step 230 and the process repeatsuntil filming is done.

One of the advantages of the method of FIG. 8 is that the distancelimitations of the global positioning technology need not apply to asystem working with the combination of image recognition and globalpositioning technologies.

Image recognition technology may be advantageously supplemented by otherlocation detection technology, such as global positioning orinfrared-radiation-based line-of-sight methods. By supplementing with asecond location detection technology, the image recognition system can“learn” the image of the subject to be tracked. Once a series of imagesare collected using the supplemented location detection technology andthe system learns to recognize the subject, tracking of the subjectcontinues based on the image recognition information alone or by acombination of the image recognition information and the supplementedlocation detection technology.

There is a certain freedom in designing the system in the way conflictof step 260 is defined. It may allow for several conflicting data pointsabout the correct camera orientation to be obtained before the existenceof conflict is actually acknowledged.

As discussed above, camera 46 may be in motion during a recordingsession. In such an embodiment, base station 18 “knows” the location andorientation of camera 46 in real time. This is accomplished by one ofseveral possible methods, or by a combination of methods. One suchmethod is that camera 46, or positioner 32, has one or more built indevices that provides such information. These devices may include aglobal positioning unit, an accelerometer, a gyroscope, an electroniclevel, an elevation sensor, an electronic compass, and the like. Anothermethod is to have a known track or path for camera 46 along which itmoves (e.g., a rail wherein the camera moves at a constant speed). Yetanother method is moving camera 46 by a device programmed to move on apredetermined track and with predetermined velocity. Alternatively, basestation 18 receives information regarding camera position andorientation from prepositioned units along a track sendingelectromagnetic or sound signals from known locations. In theseembodiments, base station 18 is capable of tracking subject 12. Anexample of such an embodiment is when camera 46 is located on the helmetof a snowboarder and automatically tracks other snowboarders who arewearing remote devices. Another example includes camera 46 attached to amoving vehicle which follows subject 12 (e.g., a cyclist or marathonrunner). Another example includes camera 46 and camera orientationcontrol device 70 positioned on a rail or track which runs along thesideline of a sport's field (e.g., a racetrack or golf course), along adown hill ski run, along a motocross venue, or within a movie oftelevision production set. Camera orientation control device 70 andcamera 46 move along the track either (i) according to the way a personin charge of the recording sees fit, or (ii) automatically, based on theposition of the tracked object or objects, or (iii) based on apredetermined algorithm.

It is noted that the camera orientation control device 70 may be usedwith devices other than a camera.

Different preferred embodiments, methods, applications, advantages, andfeatures of this invention have been described above; however, theseparticular embodiments, methods, applications, advantages, and featuresshould not be construed as being the only ones that constitute thepractice of the invention. Indeed, it is understood that the broadestscope of this invention includes modifications. Further, many otherapplications and advantages of applicant's invention will be apparent tothose skilled in the art from the above descriptions and the belowclaims.

What is claimed is:
 1. A system for orienting a camera at a target, saidsystem comprising: global positioning units associated with said cameraand said target and an orienting device capable of orienting said cameraat said target based on location information generated by said globalpositioning units, wherein said system for orienting said camerareceives images from said camera and is trained using the receivedimages to recognize said target, and, once trained, uses imagerecognition to orient said camera at said target.
 2. The system of claim1, further comprising at least one microelectromechanical deviceconnected to said orienting device and used to determine the orientationof said camera.
 3. The system of claim 1, further comprising at leastone microelectromechanical device connected to said camera and used todetermine the orientation of said camera.
 4. A method of pointing acamera at a target, said method comprising: at least one firstcombination of steps and at least one second combination of steps,wherein the at least one first combination of steps comprises the stepsof determining a location and an orientation of the camera; determininga location of the target; determining a direction and a distance betweenthe camera and the target; periodically determining changes in thelocation of the target; periodically determining changes in orientationof the camera that are necessary to point the camera towards the target;using an orientation controller to point the camera towards the target;and wherein the at least one second combination of steps comprises thesteps of collecting images of the target; training image recognitionsoftware to recognize the target within a field of view of the camera;orienting the camera at the recognized target; and wherein the at leastone first combination of steps is used whenever the target is notrecognized within the field of view of the camera.
 5. The method ofclaim 4, further comprising the step of zooming in on and zooming awayfrom the target.
 6. A method of pointing a camera at a moving target,said method comprising the steps of: a) determining locations of thecamera and of the target using global positioning information; b)periodically repeating determining locations of the camera and of thetarget in real time using global positioning information; c)periodically determining directions between the camera and the target;d) determining an orientation of the camera; e) periodically repeatingdetermining the orientation of the camera in real time; f) using imagerecognition software to determine characteristics of the target andstoring the characteristics; g) using the stored characteristics of thetarget to point the camera at the target.
 7. The method of claim 6,further comprising the step of periodically determining a distancebetween the camera and the target.
 8. The method of claim 7, furthercomprising the step of focusing the camera on the target.
 9. The methodof claim 6, further comprising the steps of a) determining a differencebetween the direction between the camera and the target and theorientation of the camera substantially at the same time; b) comparingthe determined difference between the direction between the camera andthe target and the orientation of the camera with a predetermined value,and pointing the camera at the direction between the camera and thetarget if the determined difference between the direction between thecamera and the target and the orientation of the camera exceeds thepredetermined value.
 10. The method of claim 7, wherein the camera has azoom function, further comprising the step of adjusting the zoom of thecamera based on the distance between the camera and the target.